[cram-developers] CRAM v0.3.0

Gayane Kazhoyan gaya at cs.uni-bremen.de
Thu Mar 16 14:22:51 CET 2017


Dear CRAM developers,

A new version of CRAM is out!
Here is what's new since v0.2.0:

* In cram_core, we've got 2 new features together with small nicifications
and fixes, no API breakage.
Now we have motion designators, which are a new class of designators used
to interface with process modules, calling PERFORM on them results in calls
to process modules. PERFORMing action designators, on the other hand, now
calls other plans. Check out the tutorial [1] for this new feature.

* In cram_3rdparty, yason has been updated to a newer version with no API
breakage

* cram_plans got renamed into cram_common, which seems to be a much more
fitting name for the repo. Also, cram_transforms_stamped got renamed into
cram_tf, which is shorter. No API breakage except the renamings.
There have been important bugfixes in the location costmap functionality,
better initialization of cram_tf variables, some new utility functions in
cram_tf and cram_robot_interfaces and a new package cram_commander to
execute CRAM actions over ROS.

* cram_json_prolog got a minor cleanup.

* cram_semantic_maps got renamed into cram_knowrob and there were some
bugfixes and updates to support newer KnowRob APIs and the new semantic map
of the kitchen.

* cram_3d_world got rid of some unused dependencies, moveit-specific things
were moved away into the cram_pr2 repo, household objects were renamed into
items to support other domains than human household, new utility functions,
nicifications etc.

* in cram_pr2 there have been lots of changes: process module bugfixes, a
new cram_motion_manager package to support different motion planners,
reachability costmap now supports moveit IK interface, there are new
low-level interfaces, designators and plans also available for PR2, etc.

* the rosinstall file for CRAM has been updated to use the newest version.

All the main CRAM repositories now contain a CHANGELOG.md file! Please look
there [2] for more details on the changes.


On the aforementioned repositories, there have been 39 PRs merged, 15
issues solved, and there are currently no PRs or issues open!

Bug reports and requests for new features are as always most welcome.

Cheers,
Gaya



[1] http://cram-system.org/tutorials/intermediate/performing_plans

[2] Links to changelog files:

cram_3rdparty:
https://github.com/cram2/cram_3rdparty/blob/master/CHANGELOG.md
cram_core: https://github.com/cram2/cram_core/blob/master/CHANGELOG.md
cram_plans aka cram_common:
https://github.com/cram2/cram_common/blob/master/CHANGELOG.md
cram_json_prolog:
https://github.com/cram2/cram_json_prolog/blob/master/CHANGELOG.md
cram_semantic_maps aka cram_knowrob:
https://github.com/cram2/cram_knowrob/blob/master/CHANGELOG.md
cram_3d_world:
https://github.com/cram2/cram_3d_world/blob/master/CHANGELOG.md
cram_pr2: https://github.com/cram2/cram_pr2/blob/master/CHANGELOG.md
cram_projection_demos:
https://github.com/cram2/cram_projection_demos/blob/master/CHANGELOG.md
-------------- next part --------------
An HTML attachment was scrubbed...
URL: <https://mailman.informatik.uni-bremen.de/pipermail/cram-developers/attachments/20170316/282e626f/attachment.html>


More information about the cram-developers mailing list